Whole body teleoperation of a humanoid robot - development of a simple master device using joysticks
نویسندگان
چکیده
A teleoperation system for whole body motions of a humanoid robot using a simple joystick master device is developed. Humanoid robots are physically similar to human and usually possess a large number of degrees of freedom. Getting hints from the shifting of locus of attention for body motions between the joints of human body during task executions, we propose a switching command based teleoperation system of which the operator selects only the necessary point of the humanoid robot’s body for manipulation. In this paper, we present the implementation of this switching command based teleoperation system and the experimental results using this system to teleoperate humanoid robot HRP-1S developed in the Humanoid Robotics Project of the Ministry of Economy, Trade and Industry of Japan
منابع مشابه
Human and Robot Integrated Teleoperation
For robot path generation, a lot of researches have been done including automatic path planning, and teaching/playback. Teleoperation is commonly used in order to control a robot from remote site, dealing with unknown environment. To increase the accuracy and the reliability of teleoperation, close interaction between human and the slave robot is required. Many force feedback devices and contro...
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